While robot mapping has seen massive strides recently, higher level abstractions in map
representation are still not widespread. Maps containing semantic concepts such as objects …

In this chapter we describe popular ways to represent the environment of a mobile robot. For
indoor environments, which are often stored using two-dimensional representations, we …

Navigating in unknown big indoor environments with static 2D maps is a challenge,
especially when time is a critical factor. In order to provide a mobile assistant, capable of …